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1. 发明专利

JPH10157624A FOLLOW-UP TYPE MOVING DEVICE 失效
公开(公告)号：JPH10157624A
公开(公告)日：1998-06-16
申请号：JP33473496
申请日：1996-11-29
申请人： NIKON CORP , HITACHI CABLE
发明人： YAMASHIRO RYOJI , HOUDA TOMOYUKI , ABE KEIZO , TAKAHASHI AKITETSU
IPC分类号： B62D3/02 , B62B3/00
摘要： PROBLEM TO BE SOLVED: To dispense with an installation part for a transmission member so as to effectively use a carriage by detecting a rotation angle of a foldable member changing a longitudinal shift quantity of the transmission member into a rotation angle and controlling a traveling mechanism driving means according to the detection output. SOLUTION: When a gripping member is moved in the longitudinal direction, a foldable member 31 is rotated around a rotary shaft 33 to a coupling member 30. According to the rotation of the foldable member 31, the rotary shaft 33 fixed in the foldable member 31 is also rotated. By means of the rotation of the rotary shaft 33, a rotary shaft of a potentiometer 10 is rotated via gears 41, 42. An output voltage value of the potentiometer 10 is found uniquenessly on the basis of the rotation angle of its rotary shaft, so that the potentiometer 10 detects the longitudinal moving quantity of the gripping member replaced with the rotation angle of the foldable member 31 as a voltage value and outputs the voltage signal representing the voltage value. On the basis of the voltage signal, the speed of the moving device is computed.

2. 发明专利

JPH10250645A RUNNING DEVICE CAPABLE OF GOING UP AND DOWN STAIRS 失效
公开(公告)号：JPH10250645A
公开(公告)日：1998-09-22
申请号：JP8240897
申请日：1997-03-17
申请人： NIKON CORP , HITACHI CABLE
发明人： YAMAMURA NORIO , YAMASHIRO RYOJI , ABE KEIZO , TAKAHASHI AKITETSU
IPC分类号： B60S9/02 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To prevent outriggers from being left accommodated whereby a danger of tumbling at running up the stairs is eliminated. SOLUTION: Stairs sensing means 10f and 10r sense that there are stairs ahead in the advancing direction of a running device, while means 9f and 9r sense that outriggers 5f and 5r are in the overhung position, and an automatic controlling mechanism stops the running or emits an alarm unless the outriggers 5f and 5r are set overhanging in the case where stairs are sensed while the running device is in running, and thereby a danger due to the operator's missing the carefulness can be precluded properly.

3. 发明专利

JPH10218043A RUNNING DEVICE WHICH CAN CLIMB UP AND DOWN STAIRS 失效
公开(公告)号：JPH10218043A
公开(公告)日：1998-08-18
申请号：JP3149497
申请日：1997-01-31
申请人： NIKON CORP , HITACHI CABLE
发明人： YAMAMURA NORIO , YAMASHIRO RYOJI , ABE KEIZO , TAKAHASHI AKITETSU
IPC分类号： B62D55/075
摘要： PROBLEM TO BE SOLVED: To detect a height position of gravity before a running device advances onto stairs to enable the safe transportation by calculating a position of gravity in a bottom face of a loading part from outputs output from a plurality of weight detectors provided in the loading part of the running device and measuring a travel amount of the position of gravity when the loading part is inclined to calculate the height position of gravity. SOLUTION: A loading part 5 is provided in a car body frame part 1 through weight detectors 7 (7a to 7d) provided at four corners of a bottom part thereof to calculate where a position of gravity of weight of the loading part is on a bottom face of the loading part based on the results of measurement of each weight detector 7. Moreover, with respect to the position of gravity in a bottom part of the loading part, a height of gravity is calculated by measuring a travel amount of the position of gravity and an angle of inclination when a running device is inclined. When the device runs on stairs, front and rear wheels 3, 4 for running on a flat surface are pulled in by driving lift mechanisms 13, 14, and a crawler running mechanism 2 is brought into contact with the ground to judge whether the device is within a proper scope for safety or not based on the comparison between the calculated value and actual value of the height of gravity in a condition in which the device is inclined.

4. 发明专利

JPH107036A TRAVELING DEVICE 失效
公开(公告)号：JPH107036A
公开(公告)日：1998-01-13
申请号：JP16148196
申请日：1996-06-21
申请人： NIKON CORP , HITACHI CABLE
发明人： YAMAMURA NORIO , YAMASHIRO RYOJI
IPC分类号： E02F9/22 , B62B5/02 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To provide a device capable of avoiding a falling of traveling device when it travels on stairs caused by erroneous judgement of an operator. SOLUTION: There are provided a crawler mechanism 2 which can move in forward and rearward directions and run on a flat ground and a slant ground such as stairs in any traveling directions; a center-of-gravity moving device 5 capable of displacing the position of center-of-gravity of the device in a forward direction and a rearward direction of a traveling device 1; center-of-gravity position sensing devices 6, 71, 72 for use in sensing the position of center-of- gravity of the traveling device; slant sensors 61, 62 for use in sensing a slant of a road surface in an advancing direction of the traveling device; and a discriminating means for discriminating whether or not the position of center-of- gravity is appropriate when the vehicle travels in an advancing direction in reference to the position of the center-of-gravity and an inclination of the road surface in an advancing direction.

5. 发明专利

JPH09263274A TRAVELING DEVICE 失效
公开(公告)号：JPH09263274A
公开(公告)日：1997-10-07
申请号：JP7362496
申请日：1996-03-28
申请人： NIKON CORP
发明人： YAMAMURA NORIO , YAMASHIRO RYOJI
IPC分类号： B62D55/075
摘要： PROBLEM TO BE SOLVED: To change the direction of a traveling device safely even during moving up and down the stairs by involving a controlling means which controls a driving device so that it may restrain a difference in rotational speed given to the right and left crawlers based on a detected siginal from an inclination angle detector when counter/counter-clockwise turning indication of the traveling device is inputted into an inputting device. SOLUTION: When a device is located halfway on the stairs, an inclination angle detector 3 which is incorporated in the device detects the angle of the stairs and outputs it to a controller 4. The controller 4 compares the angle with a preset angle, and when the detected angle is larger, it determines that the device is located on the stairs automatically, and furthermore, a command value is multiplied by a deceleration coefficient (which is set to 1 on a flat and to 1 or less on the stairs). For example, if the deceleration coefficient is 0.5 and the device is turned halfway on the stairs, the rotational speed of the left crawler is decreased to a half and that of the right crawler is decelerated to 1/4. A difference in the rotational speed between the right and left crawlers is thus decreased, and the speed of the traveling device is decelerated.

6. 发明专利

JPH0926824A MOVING DEVICE 失效
公开(公告)号：JPH0926824A
公开(公告)日：1997-01-28
申请号：JP19584695
申请日：1995-07-07
申请人： NIKON CORP
发明人： SATO KENZO , YAMAMURA NORIO , KOSHIMA TAKAHARU , HOTA TOMOYUKI , YAMASHIRO RYOJI
IPC分类号： G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a moving device which can secure its safety and assuredness in its vertical movement by a simple operation. SOLUTION: A crawler 3 is attached to a moving device main body 1a, so that the main body can travel on the flat land and also can go up and down the stairs. The TV cameras 4 and 5 are placed at the front and back parts of the main body 1a to monitor its forward traveling path surface, and a monitor 7 displays the images sent from both cameras 4 and 5. The monitor 7 has plural reference marks on its display screen to decide whether the approach angle of a moving device 1 is kept within its allowable range against the forward stairs. Thus an operator can easily confirm whether the approach angle of the device 1 is kept within its allowable range based on the positional relations between those reference marks and the images of stairs. As a result, the operator can quickly confirm whether the device 1 can go up and down its forward stairs and does not require any special expertness.

7. 发明专利

JPH1071974A STAIRS ASCENDABLE-DESCENDABLE TRAVELING DEVICE 失效
公开(公告)号：JPH1071974A
公开(公告)日：1998-03-17
申请号：JP24912196
申请日：1996-08-30
申请人： NIKON CORP
发明人： YAMASHIRO RYOJI , YAMAMURA NORIO
IPC分类号： B62D55/075 , B62D57/024
摘要： PROBLEM TO BE SOLVED: To safely and efficiently transport a maximum loadage by moving a loading part so that a composed gravity center position falls within a proper range by considering the total weight of the loading part including a live load or the live load. SOLUTION: In a moment when the rear end of a rear crawler mechanism separates from a single step of stairs, a contact point with the crawler mechanism in a step above by a single pitch is denoted by Y. An intersection between a perpendicular A from the contact point Y and a bottom surface of a loading part 5 is denoted by (a). A perpendicular B perpendicular to a traveling device by passing through this intersection (a) becomes the lower limit of a gravity center proper range of the traveling device of the composed center G of gravity. In a condition where the composed center G of gravity comes to the lower side of the stairs than the perpendicular A, the possibility of overturning to the lower side of the stairs is produced. Then, in order to prevent overturning, a loading part 5 is slidingly moved the upper side of the stairs according to a calculated moving distance. As a result, the center G2 of the gravity of a live load moves in the upward direction of the stairs, and as a result, the composed center G of gravity also moves in the upward direction of the stairs, and can be made to fall within a proper range.

8. 发明专利

JPH1067346A TRAVELING DEVICE 失效
公开(公告)号：JPH1067346A
公开(公告)日：1998-03-10
申请号：JP24547996
申请日：1996-08-29
申请人： NIKON CORP
发明人： YAMASHIRO RYOJI , YAMAMURA NORIO
IPC分类号： B62D55/02 , B62D55/075
摘要： PROBLEM TO BE SOLVED: To travel even on the stairs and a flat place easily without conducting switching between a crawler mechanism for going up and down on the stairs and wheels for traveling on the flat place. SOLUTION: This traveling device is provided with a crawler mechanism having a crawler belt 1a having protrusuon at its outside surface, a driving pulley which engages with the front end and rear end of the inside of the crawler belt 1a separately respectively for driving the crawler belt la in one direction by driving its rotation in the same direction around respective rotating shafts, and driving sources 8a, 8b which drives the rotation of the driving pulley. This traveling device, which is mounted respectively on the right and left of its lower part when viewed from the above, is provided with wheels 2a, 2b at the rotating shafts of the respective driving pulleys, and comb-toothed protrusions Y1, Y2 higher than the protrusion part of the crawler belt 1 at the outer periphery of the wheels 2a, 2b.

9. 发明专利

JPH08239065A TRAVELING DEVICE 失效
公开(公告)号：JPH08239065A
公开(公告)日：1996-09-17
申请号：JP4543595
申请日：1995-03-06
申请人： NIKON CORP
发明人： YAMAMURA NORIO , YAMASHIRO RYOJI , SATO KENZO , KOSHIMA TAKAHARU , YASUDA TOMOYUKI
IPC分类号： B62D55/04 , B62D55/075
摘要： PURPOSE: To provide a traveling device which can run safely on a flat ground and an inclined running road while switching a wheel mechanism and a crawler mechanism to each other for use. CONSTITUTION: This traveling device 1 is provided with traveling elements 6, 10, a traveling means having a wheel mechanism 3 and a crawler mechanism 2, and gravity center slide devices 51, 52 for moving the centers of gravity of the traveling elements 6, 10 in the upward direction of a slope to an inclined traveling road. A main control system MCS move the center of gravity of the traveling element through the gravity center slide device, interlocking with switching between the wheel mechanism 3 and the crawler mechanism 2.

10. 发明专利

JPH07165134A TRAVELING DEVICE 失效
公开(公告)号：JPH07165134A
公开(公告)日：1995-06-27
申请号：JP31545093
申请日：1993-12-15
申请人： NIKON CORP
发明人： YAMASHIRO RYOJI , KOSHIMA TAKAHARU
IPC分类号： B62D55/075
摘要： PURPOSE:To provide a compact traveling device with high traveling ability by providing an elevating means to move wheels in the vertical direction and a buffer means to suppress the swaying speed of a crawler unit on a frame to realize the smooth and stable elevation/lowering on the stairway. CONSTITUTION:A body frame 10 and a sub frame 11 are connected to each other by a parallel link mechanism 12, and the sub frame 11 changes its position at the same height as or lower than the body frame by expanding/contracting a hydraulic cylinder 13 for elevation/lowering. When the sub frame is located in the lower position, the lower side of the crawler is located higher than the ground contact surface of the wheels, and a traveling device is smoothly traveled by driving front wheels 14 to execute the steering. Crawler units 19, 20 are turned around a central shaft 22 of swaying, and are swayed according to the road surface in the condition where the gradient of the road surface is changed, and the swaying speed is limited by the operation of a buffer means 23 connected through a connecting lever, and the traveling device can be smoothly traveled along the road surface without being rapidly swayed.

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